# %matplotlib inline
from nuscenes.nuscenes import NuScenes

#初始化
nusc = NuScenes(version='v1.0-mini', dataroot='/home/yyj/dl_dataset/nuscenes', verbose=True)

#!nuscenes 数据集每个scene 是一段20s的场景
# nusc.list_scenes()
my_scene = nusc.scene[0]
my_sample = nusc.sample[10]
# print(my_sample['data']['LIDAR_TOP'])
lidar_data = nusc.get('sample_data', my_sample['data']['LIDAR_TOP'])
# print(lidar_data['ego_pose_token'])
lidar_pose = nusc.get('ego_pose',lidar_data['ego_pose_token'])
print("lidar pose : {}".format(lidar_pose))